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Loss of joints and severed sensory pathway cause reduced mobility capabilities in lower limb amputees. Although prosthetic devices attempt to restore normal mobility functions, lack of awareness and control of limb placement increase the risk of falling and causing amputee to have high level of visual dependency. Haptic feedback can serve as a cue for gait events during ambulation thus providing sense...
The measurement of perceptually relevant information about textures has been approached through profilometry, vibrometry, and tribometry. Manfredi et al. [1] used a laser Doppler vibrometer to measure skin surface vibrations as a texture sample slides across a fingertip. In our work, we treat the Manfredi et al. measurements as a gold standard, and assess the performance of a simpler and more portable...
The recent availability of high performance and cost effective head mounted displays generates a considerable interest for Virtual Reality, both for professional applications and for the mass market. Users can now be efficiently immersed in virtual worlds, with a high quality 3D visual and auditory feedback. They can also interact with the environment using RGBD cameras or 6 Degrees of Freedom (DoFs)...
During haptic interaction with touched objects, contact with the skin elicits mechanical signals that propagate rapidly to distances removed from the location of contact. Prior research has shown that these touch elicited mechanical signals travel predominantly as waves, and during manual touch, reach distances spanning the entire hand. While the structure in these signals is well preserved across...
We present results of experiments with a haptic feedback device that imparts tangential deformations to the fingertips for displaying changes in force experienced by an MR-compatible optically-instrumented biopsy needle. The display is actuated using multiple layers of MR-compatible electroactive polymers stretched in a plastic frame. Users can use the device to sense events such as membrane puncture,...
A steering wheel modified to produce lateral skin stretch provides perceptible cues in a vehicle being driven on the road. We conducted tests to determine whether drivers can correctly perceive and react to skin stretch navigation cues. Additionally, we compare skin stretch feedback to audio navigation cues during an auditory N-back distraction task simulating a phone call. Results show a statistically...
Myoelectric prostheses have seen increased application in clinical practice and research, due to their potential for good functionality and versatility. Yet, myoelectric prostheses still suffer from a lack of intuitive control and haptic feedback, which can frustrate users and lead to abandonment. To address this problem, we propose to convey proprioceptive information for a prosthetic hand with skin...
Haptic feedback systems for spatial awareness are widely used in navigational and obstacle detection tasks and mostly used in combination with vibrotactile modules. As such, this work explores using thermal haptic feedback on the forehead for spatial awareness. As an initial step in this direction, our goal is to investigate the performance of different cueing methods for a minimal number of thermal...
Wearable haptic feedback devices for virtual reality, human-robot interaction, and motion guidance require lightweight actuators that display clearly discernible cues to the user. These goals motivate the design of WRAP, a wearable, pneumatically actuated haptic feedback device. WRAP displays a variety of tactile sensations to the user by inflating a thermoplastic pneumatic actuator in direct contact...
We have developed a classification method of tactile feeling using a stacked autoencoder-based neural network on haptic primary colors. The haptic primary colors principle is a concept of decomposing the human sensation of tactile feeling into force, vibration, and temperature. Images were obtained from variation in the frequency of the time series of the tactile feeling obtained when tracing a surface...
Lack of haptic feedback in prostheses is proving to be the bottleneck in the field. Closed loop prostheses should fill the gap for amputees to experience exteroceptive (environmental pressure) or proprioceptive (proper state or joint angles) by means of different sensory feedback. Detailed work is being done on the development of electrotactile and vi-brotactile stimulation system. The objective of...
In this paper we present a wearable Haptic Feedback Device to convey intuitive motion direction to the user through haptic feedback based on vibrotactile illusions. Vibrotactile illusions occur on the skin when two or more vibrotactile actuators in proximity are actuated in coordinated sequence, causing the user to feel combined sensations, instead of separate ones. By combining these illusions we...
Lateral skin stretch is a promising technology for haptic display of information between an autonomous or semi-autonomous car and a driver. We present the design of a steering wheel with an embedded lateral skin stretch display and report on the results of tests (N=10) conducted in a driving vehicle in suburban traffic. Results are generally consistent with previous results utilizing skin stretch...
This paper presents the design of a new haptic feedback device for transradial myoelectric upper limb prosthesis that allows the amputee person to perceive the sensation of force-gripping and object-sliding. The system designed has three mechanical-actuator units to convey the sensation of force, and one vibrotactile unit to transmit the sensation of object sliding. The device designed will be placed...
Percutaneous surgery is a typical minimally invasive surgery. Featuring minimization in trauma and infection rate as well as rapid recovery time to patients, percutaneous therapy has replaced various traditional open surgery approaches and has become an essential approach for a series of clinic operations over the past decades. However, the practice and training for such a vocational manual skill...
Haptic feedback to lower limb amputees is essential to maximize the functionality of a prosthetic device by providing information to the user about the interaction with the environment and the position of the prostheses in space. Severed sensory pathway and the absence of connection between the prosthesis and the Central Nervous System (CNS) after lower limb amputation reduces balance control, increases...
The aim of this study is the development of a classification system able to discern between two levels of velocity of a caress-like haptic stimulus, through information gathered from the analysis of the Electrodermal Activity (EDA) dynamics. We designed and performed an experiment where EDA signals were acquired during caress-like stimuli conveyed to 32 healthy volunteers (16 females) by means of...
This paper proposed a VR-based self-rehabilitation system which utilizes the virtual training model rendered by OpenGL and collects electromyography (EMG) signals from the subjects to perform hand motion recognition. EMG signals are biomedical signals generated in muscles and can be applied in many fields such as clinical diagnosis and biomedical applications. The subjects were asked to manipulate...
Tactile displays have a wide range of applications in assistive technology, prosthetics, and rehabilitation. Vibrotactile stimulation shows potential to be integrated into wearable devices because of its small size, low power consumption, and relative fast responding speed. In this paper, experiments investigating vibrotactile minimal detectable level, just noticeable difference, and two point discrimination...
In this paper, we presented fabric-based soft tactile actuator and soft sensor. The force characterization result indicates that the actuator is able to produce force up to about 2.20(±0.017)N, when it is supplied with 80kPa of pressurized air. Hence it is capable of producing sufficient amount of force, which surpasses the human's haptic perception threshold. The thin, sheet nature of the material...
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